To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-time task reallocation for large-scale UAV team in dynamic environment


    Contributors:
    Yan, Fei (author) / Shao, Zhuang (author) / Zhou, Zhou (author) / Zhu, Xiaoping (author)


    Publication date :

    2016-08-01


    Size :

    136742 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Multi-UAV Task Reallocation Based on Dynamic Window Consensus-Based Bundle Algorithm

    Shen, Junyi / Zhou, Jiuli / Bi, Wenhao | Springer Verlag | 2024




    Dynamic Reallocation in Teams of Unmanned Air Vehicles

    Pereira, E. / Sousa, J. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2009


    Heterogeneous Multi-UAV Multi-task Reallocation Problem Using Mixed-Integer Linear Programing

    Wang, Zekun / Zhao, Jianxin / Deng, Hongbin et al. | British Library Conference Proceedings | 2022